Document Outline

• 2092-UM001D-EN-P July 2004
  • Catalog Numbers
  • Important User Information
  • Preface
    • Introduction
    • Who Should Use this Manual
    • Purpose of this Manual
    • Contents of this Manual
    • Product Receiving and Storage Responsibility
    • Related Documentation
    • Conventions Used in this Manual
    • Allen-Bradley Support
      • Local Product Support
      • Technical Product Assistance
      • Comments Regarding this Manual
  • 1 - Installing Your Ultra1500
    • Chapter Objectives
    • Complying with EU and TTMRA Directives
      • CE EMC Directive
      • C-Tick EMC Directive
      • Low Voltage Directive
      • Meeting Emission Requirements
    • Ultra1500 System Overview
      • Unpacking Modules
      • System Mounting Requirements
      • Ventilation Requirements
      • Sizing an Enclosure
      • Transformer Sizing
      • Fuse Sizing
    • HF Bonding Your System
      • Bonding Modules
      • Bonding Multiple Subpanels
    • Planning Your Panel Layout
      • Establishing Noise Zones
      • Cable Categories for the Ultra1500
      • Mounting Guidelines to Reduce Electrical Noise
        • AC Line Filters
    • Mounting Your Ultra1500 Drive
  • 2 - Ultra1500 Connector Data
    • Chapter Objectives
    • Understanding Ultra1500 Connectors
      • Ultra1500 Front Panel Connections
        • I/O Connector - CN1
        • Motor Feedback Connector - CN2
        • Serial Port Connector - CN3
    • Understanding Ultra1500 I/O Specifications
      • Digital I/O Power Supply
      • Digital Inputs
      • Digital Outputs
      • Analog Inputs
      • Analog Outputs
      • Position Command Inputs
    • Understanding Ultra1500 Motor Encoder Feedback Specifications
      • 5 Volt Incremental Encoders
      • 5 Volt Serial Encoders
      • A, B, and I Inputs
      • Hall Inputs
      • Thermostat Input
      • Encoder Phasing
      • Motor Encoder Connection Diagrams
      • Buffered Motor Encoder Outputs
        • Index Pulses
      • 5 Volt Encoder Power Supply
    • Understanding the Ultra1500 Serial Interface
    • Understanding Ultra1500 Power and Ground Connections
      • Input Power Connectors
        • Main Power - L1, L2, and L3
        • Control Power - L1C and L2C
        • DC Bus Negative - N
      • DC Bus and Shunt Power Connectors
        • Diode Bridge and DC Bus Positive - P1 and P2
        • Internal Shunt Resistor - B1 and B2
      • Motor Power Connectors
      • Ground Connection
  • 3 - Connecting Your Ultra1500
    • Chapter Objectives
    • Understanding Basic Wiring Requirements
      • Building Your Own Cables
      • Routing Power and Signal Wiring
    • Determining Your Type of Input Power
      • Grounded Power Configuration
    • Grounding Your Ultra1500
      • Grounding Your System to the Subpanel
      • Motor Power Cable Shield Termination
    • Safety Precautions
    • Power Wiring Requirements
      • Ultra1500 Main AC Power Wiring Requirements
      • Ultra1500 Control Power Wiring Requirements
    • Connecting Input Power
    • Connecting Motor Power
      • Wiring Motor Power
    • Understanding Feedback and I/O Cable Connections
  • 4 - Commissioning Your Ultra1500
    • Applying Power to Your Ultra1500 Drive
    • Detecting Your Ultra1500 Drive
    • Configuring your Ultra1500 Drive
    • Testing Your Motor
  • 5 - Ultra1500 Application Examples
    • Chapter Objectives
    • ControlLogix 1756-M02AE System
      • Control Connections
      • Configuring the Ultra1500
      • Configuring the 1756-M02AE
      • Testing and Tuning Your Axis
    • MicroLogix Follower
      • Control Connections
      • Configuring the Ultra1500
      • Configuring the MicroLogix Controller
      • Testing Your Axis
    • Absolute Positioning
      • Encoder Battery Installation
      • Encoder Battery Life
      • Battery Voltage Loss Detection
      • Extracting Absolute Position from the Drive
    • Using the Internal Dynamic Brake
      • Basic Circuit Operation
      • Circuit Protection
      • Stopping Profiles
    • Tuning Descriptions
      • Current Regulator Settings
        • Gain
        • Low Pass Filter Bandwidth
        • Resonant Frequency Suppression
      • Velocity Regulator Settings
        • P Gain
        • Integrator Time
        • Integrator Mode
        • D Gain
        • Low Pass Filter Bandwidth
      • Position Regulator Settings
        • Kp
        • Kff
        • Kff Low Pass Filter Bandwidth
        • High Error Output Offset
        • High Error Output Threshold
    • Control Block Diagrams
      • Position Regulator
      • Velocity Regulator
      • Analog Velocity Mode
      • Preset Velocity Mode
      • Jog Mode
      • Analog Current Mode
      • Dual Current Command Mode
  • 6 - Maintaining and Troubleshooting Your Ultra1500
    • Chapter Objectives
    • Safety Precautions
    • Maintaining Your Ultra1500 Drive
    • Status Indicators and the Operator Interface
    • General Troubleshooting
      • Overtravel Condition
      • Fault Codes
        • Warning Messages
        • Error Displays
  • A - Specifications and Dimensions
    • Chapter Objectives
    • Certifications
    • Ultra1500 Power Specifications
      • Ultra1500 Power Specifications
        • Main Input Power
        • Control Input Power
        • Input Power Connector
        • DC Bus and Shunt Circuitry
        • DC Power and Shunt Connector
        • Output Power
        • Output Power Connector
      • Fuse and Contactor Specifications
      • Power Dissipation Specifications
    • Ultra1500 General Specifications
      • Physical and Environmental Specifications
      • Control Specifications
        • CN1 Controller Connector
        • CN2 Motor Feedback Connector
        • CN3 Serial Communications Connector
        • Current Loop
        • Velocity Loop
        • Position Loop
        • Digital Inputs
        • Digital Outputs
        • Fault Outputs
        • Analog Outputs
        • Encoder Outputs
        • Command Inputs
        • Motor Control
        • Built-in User Interface
        • Serial Interface
      • AC Line Filter Specifications
      • Maximum Cable Lengths
    • Dimensions
  • B - Interconnect and Cable Diagrams
    • Chapter Objectives
    • Power Connections
    • CN1 I/O Control Connections
    • ControlLogix 1756-M02AE System Connections
    • SoftLogix 1784-PM02AE System Connections
    • Generic Controller Connections
    • MicroLogix 1200/1500 Connections
    • TL-Series Motor Connections
    • Generic Rotary Motor Connections
    • Anorad Linear Motor Connections
    • Generic Linear Motor Connections
    • Host Communications Connections
    • TL-Series Motor Power Cable Assembly (2090-DANPT-16Sxx)
    • CN1 Control Cable Assembly (2090-DAIO-D50xx)
    • CN2 Feedback Cable Assembly for TL-Series Motors (2090-DANFCT-Sxx)
    • CN3 PC Communications Assembly (2090-DAPC-D09xx)
  • C - Catalog Numbers and Accessories
    • Chapter Objectives
    • Ultra1500 Drives
    • Ultraware Software
    • AC Line Filters
    • Cables
      • Motor Power Cables
      • Motor Feedback Cables
      • Motor Brake Cables
      • Interface Cables
    • Connector Kits
    • Battery
  • D - Ultra1500 Operator Interface
    • Chapter Objectives
    • Using the Operator Interface
    • Mode Displays
      • Function Mode
      • Monitor Mode
      • Status Mode
      • Set Parameter Mode
    • Parameter Groupings
      • Group 0 Parameters
      • Group 1 Parameters
      • Group 2 Parameters
      • Group 3 Parameters
      • Group 4 Parameters
      • Group 5 Parameters
      • Group 6 Parameters
  • Index
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